CN111290329A - High-precision experimental instrument control system and control method thereof - Google Patents
High-precision experimental instrument control system and control method thereof Download PDFInfo
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- CN111290329A CN111290329A CN202010097780.1A CN202010097780A CN111290329A CN 111290329 A CN111290329 A CN 111290329A CN 202010097780 A CN202010097780 A CN 202010097780A CN 111290329 A CN111290329 A CN 111290329A
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- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/11—Plc I-O input output
- G05B2219/1103—Special, intelligent I-O processor, also plc can only access via processor
Abstract
The invention relates to the field of experimental instrument control systems, in particular to a high-precision experimental instrument control system and a control method thereof, wherein the high-precision experimental instrument control system comprises a control center, a control center and a control center, wherein the control center is used for issuing a control instruction; the invention relates to a multi-link communication system, which comprises a first communication device, a second communication device and a mobile device, wherein when an instrument carrying platform is positioned in a first communication link range, the first communication device is communicated with a control center through a first communication link, and when the instrument carrying platform is positioned outside the first communication link range, the second communication device is communicated with the control center through a second communication link, the instrument carrying platform is loaded with a load, and the mobile device comprises a central controller, a waveform correction module, a waveform generation module and a switch control module.
Description
Technical Field
The invention relates to the field of experimental instrument control systems, in particular to a high-precision experimental instrument control system and a control method thereof.
Background
In high-precision measurement or experiment systems, there are often high requirements on the stability of the whole system, and especially the position relationship between instruments, even if slight interference exists, can cause the measurement or experiment results to be quite different. Therefore, in a high-precision measurement or experiment system, the measurement or experiment environment is very demanding, and generally needs to be performed in a highly isolated environment, such as an ultraclean laboratory. However, even in highly isolated environments, the operation of the instrument, and even the flow of air, can interfere with the measurement or experiment due to the movement of personnel. The ultra-clean vacuum laboratory is high in construction cost and difficult to maintain. Therefore, various monitoring and positioning systems are also available in the prior art, and are used for tracking the position relationship between instruments in measurement or experiments, and once the relative position of the instruments changes, the monitoring and positioning systems can timely restore the system to the initial position, so that the real-time monitoring effect is achieved. However, since the interference generally existing in a high-precision measurement or experiment system is very weak, how to measure such weak interference, feed back information in time and amplify the weak interference signal to a level that can push the system to return to the initial position is an important index of a monitoring and positioning system with excellent performance. The existing monitoring and positioning systems can not completely meet the indexes, can only make up the defects through a mathematical method, and can not be sufficient in realizing high-precision positioning with large interference.
The internet of things (IOT) is used for collecting any object or process needing monitoring, connection and interaction in real time through various devices and technologies such as various information sensors, radio frequency identification technologies, global positioning systems, infrared sensors and laser scanners, collecting various required information such as sound, light, heat, electricity, mechanics, chemistry, biology and position of the object or process, realizing ubiquitous connection of the object and the person through various possible network accesses, and realizing intelligent sensing, identification and management of the object and the process. The internet of things is an information bearer based on the internet, a traditional telecommunication network and the like, and all common physical objects which can be independently addressed form an interconnected network.
Chinese patent CN201920434229.4 is an intelligent constant temperature shaking culture machine control system based on the Internet of things and PLC, belongs to an experimental instrument, and comprises a constant temperature shaking culture machine intelligent control system and a remote terminal control system, wherein the constant temperature shaking culture machine intelligent control system is connected with the remote terminal control system; the intelligent control system of the constant-temperature oscillation culture machine consists of a data acquisition device, an execution device, an external device and a PLC; the data acquisition device is connected with the PLC through a network, the input end of the execution device is connected with the output end of the PLC, and the peripheral device is in bidirectional connection with the PLC.
However, in the operation process of the experimental instrument, the experimenter cannot record data every moment, so that the experimental data is difficult to avoid distortion, omission or human errors, and due to the irretrievable data, the later data cannot be searched, and the accuracy, reliability and integrity of the data are difficult to guarantee. In addition, the current control mode has no networking function, and data are difficult to remotely operate, upload or view.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a high-precision experimental instrument control system and a control method thereof, the technical scheme solves the problem that a single communication link for establishing communication of an instrument carrier at present can only be suitable for a specific application scene, and the system and the method can meet the communication requirements at various distances by constructing a redundant multi-link communication link between the instrument carrier and a control center through various communication devices.
In order to solve the technical problems, the invention provides the following technical scheme:
provided is a high-precision laboratory instrument control system, comprising:
the control center is used for issuing a control instruction;
the first communication device establishes communication with the control center through the first communication link when the instrument carrier is positioned in the range of the first communication link, receives a control command from the control center, transmits the control command to the instrument carrier and controls the instrument carrier to move;
the second communication device is used for establishing communication with the control center through a second communication link when the instrument carrier is positioned outside the range of the first communication link, receiving a control instruction from the control center, transmitting the control instruction to the instrument carrier and controlling the instrument carrier to move;
instrument microscope carrier carries on loaded mobile device, including central controller, waveform correction module, waveform generation module and on-off control module, wherein:
the waveform correction module is used for acquiring waveform preset parameters and moving parameters of the instrument carrier during movement, and comparing the waveform preset parameters with the moving parameters to acquire waveform correction parameters;
the waveform generation module is used for acquiring the waveform correction parameters and acquiring a motion waveform through the waveform correction parameters and waveform preset parameters;
the switch control module is used for acquiring the motion waveform and transmitting the motion waveform to the central controller;
and the central controller is used for acquiring a control command from the first communication device or the second communication device, controlling the instrument carrier to move, acquiring a motion waveform fed back by the switch control module, and adjusting the motion track of the instrument carrier according to the motion waveform.
As a preferred scheme of a control system of a high-precision experimental instrument, the waveform correction module includes a waveform preset parameter module, a motion data parameter module and a waveform parameter comparison module, the waveform preset parameter module is configured to preset the waveform preset parameter and store the waveform preset parameter, the motion data parameter module is configured to obtain the movement parameter of the instrument stage during motion through an inertia measurement module arranged on the instrument stage and store the movement parameter, the inertia measurement module is configured to measure a multi-axis attitude angle and an acceleration of the instrument stage during motion to obtain the motion parameter, and the waveform parameter comparison module is configured to obtain the waveform preset parameter and the movement parameter, compare the waveform preset parameter and the movement parameter, and obtain the waveform correction parameter.
As a preferred scheme of a high-precision experimental instrument control system, the load is electrically connected with the instrument carrier through a load controller, the load receives a load control signal sent by the load controller and performs corresponding actions, and the load controller establishes communication with the control center through a first communication link or a second communication link.
As a preferred scheme of a high-precision experimental instrument control system, the first communication device adopts a private link module and/or a mobile network communication module, the private link module includes at least one working channel, the first communication device performs signal-to-noise ratio detection on each working channel, selects the working channel with the highest signal-to-noise ratio for communication, and the second communication device adopts a satellite communication module.
As a preferable aspect of the high-precision laboratory instrument control system, the instrument stage includes multiple-axis drivers, the multiple-axis drivers drive the instrument stage to move in multiple degrees of freedom, and the central controller controls the motion parameters of each driver respectively.
The control method of the control system of the high-precision experimental instrument comprises the following steps:
issuing a control instruction;
when the instrument carrying platform is located in the range of a first communication link, communication is established with a control center through the first communication link, a control instruction is received through a first communication device and transmitted to the instrument carrying platform, and the instrument carrying platform is controlled to move;
when the instrument carrying platform is positioned outside the range of the first communication link, the communication is established with the control center through a second communication link, and a control instruction is received through a second communication device and transmitted to the instrument carrying platform to control the instrument carrying platform to move;
receiving a control instruction from the first communication device or the second communication device, and issuing the control instruction to an instrument carrier;
acquiring a waveform preset parameter and a movement parameter of an instrument carrier during movement, and comparing the waveform preset parameter with the movement parameter to acquire a waveform correction parameter;
acquiring the waveform correction parameters, and acquiring a motion waveform through the waveform correction parameters and waveform preset parameters;
and acquiring the control instruction, controlling the instrument carrier to move according to the control instruction, acquiring the motion waveform, and adjusting the motion track of the instrument carrier according to the motion waveform.
As an optimal scheme of a control method of a high-precision experimental instrument control system, acquiring a waveform preset parameter and a movement parameter of an instrument carrier during movement, and comparing the waveform preset parameter with the movement parameter to acquire a waveform correction parameter, the method specifically comprises the following steps:
presetting the waveform preset parameters and storing the waveform preset parameters;
acquiring the movement parameters of the instrument carrier during movement, and storing the movement parameters;
measuring a multi-axis attitude angle and acceleration of the instrument platform during movement to obtain movement parameters;
and acquiring a waveform preset parameter and a movement parameter, and comparing the waveform preset parameter with the movement parameter to acquire a waveform correction parameter.
As a preferable scheme of the control method of the high-precision experimental instrument control system, a load is loaded on the instrument carrier, the load is electrically connected with the instrument carrier through a load controller, the load receives a load control signal sent by the load controller and performs corresponding actions, and the load controller establishes communication with the control center through a first communication link or a second communication link.
As a preferred scheme of the control method of the high-precision experimental instrument control system, the first communication device adopts a private link module and/or a mobile network communication module, the private link module comprises at least one working channel, the first communication device performs signal-to-noise ratio detection on each working channel, selects the working channel with the highest signal-to-noise ratio for communication, and the second communication device adopts a satellite communication module.
As a preferable mode of the control method of the high-precision laboratory instrument control system, the instrument stage includes a multi-axis driver which drives the instrument stage to perform a movement of a plurality of degrees of freedom.
Compared with the prior art, the invention has the beneficial effects that:
when the instrument carrier moves in a range which can be covered by the first communication device, namely a range of a first communication link, the first communication device receives a control instruction sent by the control center, transmits the control instruction to the instrument carrier, controls the instrument carrier to move, and simultaneously sends the motion state of the instrument carrier, the working state of a load, and collected return data such as videos, pictures, languages and the like to the control center;
when the instrument carrier moves out of the range of the first communication link, the coverage range of the first communication device is exceeded, which means that the instrument carrier cannot perform data communication with the control center through the first communication device, in this state, the instrument carrier establishes communication with the control center through the second communication link of the second communication device, and the second communication link is used as a final guarantee communication link, so that the control center is prevented from losing monitoring of the instrument carrier. The second communication device adopts a satellite communication module, and the satellite communication module has two working modes, wherein one mode is that the instrument carrier directly establishes communication with the control center through a communication satellite, the other mode is that the instrument carrier communicates with the satellite gateway through the satellite, and the satellite gateway establishes communication with the control center. Any position of the earth can be reached by utilizing satellite communication, and the monitoring of the instrument carrier can be ensured not to be lost. The waveform preset parameters and the waveform offset parameters are set in the instrument carrier, and compared with motion data fed back by the actual motion track of the instrument carrier, the motion data are transmitted to the central controller, so that the track of the instrument carrier is adjusted in real time, and the running precision is improved.
According to the control method, redundant multi-link communication links are constructed between the instrument carrier and the control center through multiple communication devices, communication requirements under various distances can be met, compared with the use of a single communication link, the reliability of communication and the motion precision of the instrument carrier are improved, the motion track of the instrument carrier is adjusted by comparing and feeding back the difference between the motion track and a preset track in real time, the instrument carrier is enabled to have only a single motion mode and to carry out diversified set motion, various requirements during actual use are met, and the accuracy, flexibility and operability of the motion of the instrument carrier are improved.
Drawings
FIG. 1 is a block diagram of the control system of the present invention;
FIG. 2 is a block diagram of a waveform correction module in the control system of the present invention;
FIG. 3 is a block diagram of the structure at the load in the control system of the present invention;
fig. 4 is a block diagram of a second communication device in the control system according to the present invention, which employs a satellite communication module;
fig. 5, 6 and 7 are block diagrams of the first communication device in three different states in the control system of the present invention;
FIG. 8 is a flow chart of a control method of the present invention;
fig. 9 is a detailed flowchart of the step S500) in fig. 8;
FIG. 10 is a diagram illustrating a first communication device in three different states according to a control method of the present invention
The reference numbers in the figures are:
1-instrument stage; 101-a central controller; 102-a waveform correction module; 1021, a waveform preset parameter module; 1022-motion data parameter module; 1023-waveform parameter comparison module; 103-a waveform generation module; 104-a switch control module; 105-an inertial measurement module;
2-a first communication device;
3-a second communication device;
4-a control center;
5-load;
6-load controller.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the second embodiment and the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, it should be noted that the terms "center", "first", "second", "left", "right", "front", "back", "vertical", "horizontal", "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Referring to fig. 1, the control system includes:
the first communication device 2 establishes communication with the control center 4 through the first communication link when the instrument carrier 1 is located within the range of the first communication link, and sends a control instruction to the control center 4 to control the instrument carrier 1 to move;
the second communication device 3 establishes communication with the control center 4 through a second communication link when the instrument carrier 1 is located outside the range of the first communication link, and sends a control instruction to the control center 4 to control the instrument carrier 1 to move;
the control center 4, the control center 4 may be a ground station or a remote control device, the control center 4 receives a control command from the first communication device 2 or the second communication device 3 and issues the control command to the instrument carrier 1, the control command may be various motion commands of the instrument carrier 1 and an operation command of the load 5, the motion command may be, for example, a posture adjustment command, a speed adjustment command, and the like, the instrument carrier 1 controls a power system thereof according to the control command, so that the instrument carrier 1 moves according to the control command, and the operation command of the load 5 may be an analysis command, a collection command, a photographing command, a video recording command, an injection command, a lighting command, a heat dissipation command, and the like to be performed by the experimental instrument, and may be set according to the load 6, the type of the instrument carrier 1, and a predetermined task to be performed;
the instrument platform 1 carries a moving device of a load 5, the instrument platform 1 can be a multi-degree-of-freedom moving robot, a multi-degree-of-freedom moving panel and other platforms capable of moving autonomously, the load 5 can be an acquisition system and an analysis system of various experimental instruments, or one or a plurality of combinations of a camera device, a recording device, a lighting device, a heat dissipation device and a detection device which are arranged around the experimental instruments in a matched mode, the instrument platform 1 comprises a central controller 101, a waveform correction module 102, a waveform generation module 103 and a switch control module 104, wherein:
the waveform correction module 102 is configured to obtain a waveform preset parameter and a movement parameter of the instrument stage 1 during movement, and compare the waveform preset parameter with the movement parameter to obtain a waveform correction parameter;
the waveform generation module 103 is configured to obtain a waveform correction parameter, and obtain a motion waveform through the waveform correction parameter and a waveform preset parameter;
the switch control module 104 is used for acquiring the motion waveform and transmitting the motion waveform to the central controller 101;
the central controller 101 acquires a control instruction from the control center 4, controls the instrument stage 1 to move, acquires a motion waveform fed back by the switch control module 104, and adjusts a motion trajectory of the instrument stage 1 according to the motion waveform, the instrument stage 1 includes a multi-axis driver, the multi-axis driver drives the instrument stage 1 to move with multiple degrees of freedom, and the central controller 101 controls a motion parameter of each driver respectively.
The working principle of the control system is as follows: when the instrument carrier 1 moves in a range which can be covered by the first communication device 2, namely a range of a first communication link, the first communication device 2 receives a control instruction sent by the control center 4, and then transmits the control instruction to the instrument carrier 1, so that the instrument carrier 1 is controlled to move, and meanwhile, the motion state of the instrument carrier 1 and return data such as an analysis result, collected sample data, collected video, pictures, language and the like obtained by the load 5 are sent to the control center 4;
when the instrument carrier 1 moves out of the range of the first communication link, since the coverage of the first communication device 2 is exceeded, it means that the instrument carrier 1 cannot perform data communication with the control center 4 through the first communication device 2, in this state, the instrument carrier 1 establishes communication with the control center 4 through the second communication link of the second communication device 2, and the second communication link is used as the last guaranteed communication link, so that the control center 4 is prevented from losing monitoring the instrument carrier 1. The second communication device 1 adopts a satellite communication module, and the satellite communication module has two working modes, wherein one mode is that the instrument carrier 1 directly establishes communication with the control center 4 through a communication satellite, the other mode is that the instrument carrier 1 communicates with a satellite gateway through the satellite, and the satellite gateway establishes communication with the control center 4. Any position of the earth can be reached by utilizing satellite communication, and the monitoring of the instrument carrier 1 can be ensured not to be lost. The waveform preset parameters and the waveform offset parameters are set in the instrument carrier 1, and compared with motion data fed back by the actual motion track of the instrument carrier 1 and transmitted to the central controller 101, so that the track of the instrument carrier 1 is adjusted in real time, and the running precision is improved.
This control system makes instrument microscope carrier 1 and control center 4 construct redundant multilink communication link through multiple communication device, can satisfy the communication demand under the various distances, for using single communication link, the reliability of communication and the motion precision of instrument microscope carrier 1 have been improved, and through comparing and feeding back the difference between motion orbit and the predetermined orbit in real time, adjust the motion orbit of instrument microscope carrier 1, make instrument microscope carrier 1 not only have single motion mode, can carry out diversified settlement motion, thereby the various demands when having satisfied the actual use, the accuracy of instrument microscope carrier 1 motion, flexibility and maneuverability have been improved.
More specifically, referring to fig. 2, the waveform calibration module 102 includes a waveform preset parameter module 1021, a motion data parameter module 1022, and a waveform parameter comparison module 1023, where the waveform preset parameter module 1021 is used to preset waveform preset parameters and store the waveform preset parameters, the motion data parameter module 1022 is used to obtain the motion parameters of the instrument carrier 1 during motion through the inertia measurement module 105 disposed on the instrument carrier 1, and stores the movement parameters, the inertia measurement module 105 is used for measuring the multi-axis attitude angle and the acceleration of the instrument carrier 1 during movement, obtaining the movement parameters, in this embodiment, the inertial measurement module 105 may adopt an IMU (inertial measurement unit) module, and the waveform parameter comparison module 1023 is configured to obtain the waveform preset parameter and the motion parameter, and compare the waveform preset parameter with the motion parameter to obtain the waveform correction parameter.
In practical use, since the instrument stage 1 needs to stay at a position deviated from the set waveform, or stay time is longer or shorter at some positions, it is necessary to perform offset setting of a small amplitude on the set waveform to meet practical requirements.
More specifically, referring to fig. 3, the load 5 is electrically connected to the instrument carrier 1 through the load controller 6, the load 5 receives a load control signal sent by the load controller 6 and performs a corresponding action, and the load controller 6 establishes communication with the control center 4 through the first communication link or the second communication link and receives an operation instruction sent by the control center 4.
Referring to fig. 4, the second communication device 3 employs a satellite communication module. When the instrument carrier 1 moves out of the range of the first communication link, the instrument carrier 1 cannot perform data communication with the control center 4 through the first communication device 2 because the coverage of the first communication device 2 is exceeded, and the second communication link is used as a last guaranteed communication link, so that the control center 4 is prevented from losing monitoring of the instrument carrier 1. The second communication device 1 adopts a satellite communication module, and the satellite communication module has two working modes, wherein one mode is that the instrument carrier 1 directly establishes communication with the control center 4 through a communication satellite, the other mode is that the instrument carrier 1 communicates with a satellite gateway through the satellite, and the satellite gateway establishes communication with the control center 4. Any position of the earth can be reached by utilizing satellite communication, and the monitoring of the instrument carrier 1 can be ensured not to be lost. Considering that the transmission bandwidth between the control center 4 and the instrument carrier 1 is limited, the instrument carrier 1 can receive the control refrigeration sent from the control center 4, and the data returned by the instrument carrier 1 to the control end may be only the motion state of the instrument carrier 1 and the motion state of the experimental instrument in the load 5, and does not include the data of videos, pictures, languages and the like collected by the supporting equipment of the experimental instrument in the load 5.
Referring to fig. 5, the first communication device 2 employs a private link module, the private link module includes at least one working channel, the working channel has an automatic frequency hopping function, the private link module works in a fixed frequency band, the frequency band is equally divided into a plurality of working channels, a part of bandwidth in each channel is used for data communication, during work, the first communication device 2 detects the signal-to-noise ratio of each channel, and through automatic frequency hopping among the channels, a channel with the highest signal-to-noise ratio is selected as the working channel, so that the anti-interference capability of the instrument carrier 1 communication is effectively improved, and the reliability of the communication and the motion accuracy of the instrument carrier 1 are further improved.
Referring to fig. 6, the first communication device 2 employs a mobile network communication module, which may be a 2G/3G/4G/5G mobile communication module, and the instrument carrier 1 establishes communication with the control center 4 through a cellular mobile network.
Referring to fig. 7, the first communication device 2 employs a private link module and a mobile network communication module, the private link module includes at least one working channel, the working channel has an automatic frequency hopping function, the private link module works in a fixed frequency band, the frequency band is divided equally into a plurality of working channels, a part of bandwidth in each channel is used for data communication, during work, the first communication device 2 detects the signal-to-noise ratio of each channel, by automatically hopping among the channels, a channel with the highest signal-to-noise ratio is selected as the working channel, the mobile network communication module may be a 2G/3G/4G/5G mobile communication module, and the instrument carrier 1 establishes communication with the control center 4 through a cellular mobile network.
Referring to fig. 8, the control method includes the following steps:
s100) the control center 4 issues a control instruction, the control center 4 can be a ground station or a remote control device, the control center 4 receives a control instruction from the first communication device 2 or the second communication device 3 and issues the control instruction to the instrument carrier 1, the control instruction can be various motion instructions of the instrument carrier 1 and an operation instruction of the load 5, the motion instructions can be, for example, a posture adjustment instruction, a speed adjustment instruction and the like, the instrument carrier 1 controls a power system thereof according to the control instruction, so that the instrument carrier 1 moves according to the control instruction, and the operation instruction of the load 5 can be an analysis instruction, a collection instruction, a photographing instruction, a video recording instruction, a spraying instruction, a lighting instruction, a heat dissipation instruction and the like required by an experimental instrument, and can be set according to the type of the load 6 and the instrument carrier 1 and a set task required to be executed;
s200) when the instrument carrying platform 1 is located in the range of a first communication link, communication is established with a control center 4 through the first communication link, a control instruction sent by the control center 4 is received through a first communication device 2, the instrument carrying platform 1 is controlled to move, the instrument carrying platform 1 is mobile equipment carrying a load 5, the instrument carrying platform 1 can be a platform which can move autonomously, such as a multi-degree-of-freedom mobile robot, a multi-degree-of-freedom motion panel and the like, and the load 5 can be an acquisition system and an analysis system of various experimental instruments or a combination of one or more of a camera device, a recording device, a lighting device, a heat dissipation device and a detection device which are arranged around the experimental instruments in a matched manner;
s300) when the instrument carrier 1 is positioned outside the range of the first communication link, establishing communication with the control center 4 through a second communication link, receiving a control instruction sent from the control center 4 through the second communication device 3, and controlling the instrument carrier 1 to move;
s400) the instrument stage 1 receives a control command from the first communication device 2 or the second communication device 3;
s500) acquiring a waveform preset parameter and a movement parameter of the instrument carrier 1 during movement, and comparing the waveform preset parameter with the movement parameter to acquire a waveform correction parameter;
s600) acquiring waveform correction parameters, and acquiring a motion waveform through the waveform correction parameters and waveform preset parameters;
s700) acquiring a control instruction, controlling the instrument carrier 1 to move according to the control instruction, acquiring a motion waveform, and adjusting the motion track of the instrument carrier 1 according to the motion waveform.
More specifically, please refer to fig. 9, S500) to obtain a waveform preset parameter and a movement parameter of the instrument stage 1 during movement, and compare the waveform preset parameter with the movement parameter to obtain a waveform correction parameter, which specifically includes the following steps:
s501) presetting waveform preset parameters and storing the waveform preset parameters;
s502) obtaining the movement parameters of the instrument carrier 1 during movement, and storing the movement parameters;
s503) measuring a multi-axis attitude angle and acceleration of the instrument platform 1 during movement to obtain movement parameters;
s504) obtaining the waveform preset parameters and the movement parameters, and comparing the waveform preset parameters with the movement parameters to obtain waveform correction parameters.
In practical use, since the instrument stage 1 needs to stay at a position deviated from the set waveform, or stay time is longer or shorter at some positions, it is necessary to perform offset setting of a small amplitude on the set waveform to meet practical requirements. The load 5 is electrically connected with the instrument carrier 1 through the load controller 6, the load 5 receives a load control signal sent by the load controller 6 and performs corresponding actions, and the load controller 6 establishes communication with the control center 4 through the first communication link or the second communication link and receives an operation instruction sent by the control center 4.
Referring to fig. 10, the second communication device 3 employs a satellite communication module. When the instrument carrier 1 moves out of the range of the first communication link, the instrument carrier 1 cannot perform data communication with the control center 4 through the first communication device 2 because the coverage of the first communication device 2 is exceeded, and the second communication link is used as a last guaranteed communication link, so that the control center 4 is prevented from losing monitoring of the instrument carrier 1. The second communication device 1 adopts a satellite communication module, and the satellite communication module has two working modes, wherein one mode is that the instrument carrier 1 directly establishes communication with the control center 4 through a communication satellite, the other mode is that the instrument carrier 1 communicates with a satellite gateway through the satellite, and the satellite gateway establishes communication with the control center 4. Any position of the earth can be reached by utilizing satellite communication, and the monitoring of the instrument carrier 1 can be ensured not to be lost. Considering that the transmission bandwidth between the control center 4 and the instrument carrier 1 is limited, the instrument carrier 1 can receive the control refrigeration sent from the control center 4, and the data returned by the instrument carrier 1 to the control end may be only the motion state of the instrument carrier 1 and the motion state of the experimental instrument in the load 5, and does not include data such as video, pictures, languages and the like collected by the corollary equipment of the experimental instrument in the load 5. The first communication device 2 adopts a private link module, the private link module comprises at least one working channel, the working channel has an automatic frequency hopping function, the private link module works in a fixed frequency band, the frequency band is equally distributed to a plurality of working channels, part of bandwidth in each channel is used for data communication, during work, the first communication device 2 detects the signal-to-noise ratio of each channel, the channel with the highest signal-to-noise ratio is selected as the working channel through automatic frequency hopping among the channels, the anti-interference capability of the communication of the instrument carrier 1 is effectively improved, and the reliability of the communication and the motion precision of the instrument carrier 1 are further improved. The first communication device 2 adopts a mobile network communication module, the mobile network communication module can be a 2G/3G/4G/5G mobile communication module, and the instrument carrier 1 establishes communication with the control center 4 through a cellular mobile network. The first communication device 2 adopts a private link module and a mobile network communication module, the private link module comprises at least one working channel, the working channel has an automatic frequency hopping function, the private link module works in a fixed frequency band, the frequency band is equally distributed to a plurality of working channels, part of bandwidth in each channel is used for data communication, during work, the first communication device 2 detects the signal-to-noise ratio of each channel, the channel with the highest signal-to-noise ratio is selected as the working channel through automatic frequency hopping among the channels, the mobile network communication module can be a 2G/3G/4G/5G mobile communication module, and the instrument carrier 1 establishes communication with the control center 4 through a cellular mobile network.
The working principle of the control method is as follows: when the instrument carrier 1 moves in a range which can be covered by the first communication device 2, namely a range of a first communication link, the first communication device 2 receives a control instruction sent by the control center 4, and then transmits the control instruction to the instrument carrier 1, so that the instrument carrier 1 is controlled to move, and meanwhile, the motion state of the instrument carrier 1 and return data such as an analysis result, collected sample data, collected video, pictures, language and the like obtained by the load 5 are sent to the control center 4;
when the instrument carrier 1 moves out of the range of the first communication link, since the coverage of the first communication device 2 is exceeded, it means that the instrument carrier 1 cannot perform data communication with the control center 4 through the first communication device 2, in this state, the instrument carrier 1 establishes communication with the control center 4 through the second communication link of the second communication device 2, and the second communication link is used as the last guaranteed communication link, so that the control center 4 is prevented from losing monitoring the instrument carrier 1. The second communication device 1 adopts a satellite communication module, and the satellite communication module has two working modes, wherein one mode is that the instrument carrier 1 directly establishes communication with the control center 4 through a communication satellite, the other mode is that the instrument carrier 1 communicates with a satellite gateway through the satellite, and the satellite gateway establishes communication with the control center 4. Any position of the earth can be reached by utilizing satellite communication, and the monitoring of the instrument carrier 1 can be ensured not to be lost. The waveform preset parameters and the waveform offset parameters are set in the instrument carrier 1, and compared with motion data fed back by the actual motion track of the instrument carrier 1 and transmitted to the central controller 101, so that the track of the instrument carrier 1 is adjusted in real time, and the running precision is improved.
According to the control method, redundant multi-link communication links are constructed between the instrument carrier 1 and the control center 4 through multiple communication devices, communication requirements under various distances can be met, compared with the use of a single communication link, the reliability of communication and the motion precision of the instrument carrier 1 are improved, the motion track of the instrument carrier 1 is adjusted through real-time comparison and feedback of differences between the motion track and a preset track, the instrument carrier 1 is enabled to have only a single motion mode and to carry out diversified set motion, so that various requirements during actual use are met, and the accuracy, flexibility and operability of the motion of the instrument carrier 1 are improved.
Claims (10)
1. A high accuracy laboratory instrument control system, comprising:
the control center (4) is used for issuing a control instruction;
the first communication device (2) is used for establishing communication with the control center (4) through a first communication link when the instrument carrier (1) is located within the range of the first communication link, receiving the control command from the control center (4), transmitting the control command to the instrument carrier (1) and controlling the instrument carrier (1) to move;
the second communication device (3) is used for establishing communication with the control center (4) through a second communication link when the instrument carrier (1) is positioned outside the range of the first communication link, receiving a control command from the control center (4), transmitting the control command to the instrument carrier (1) and controlling the instrument carrier (1) to move;
an instrument stage (1), a mobile device on which a load (5) is mounted, comprising a central controller (101), a waveform correction module (102), a waveform generation module (103), and a switch control module (104), wherein:
the waveform correction module (102) is used for acquiring waveform preset parameters and moving parameters of the instrument carrier (1) during movement, and comparing the waveform preset parameters with the moving parameters to acquire waveform correction parameters;
the waveform generation module (103) is used for acquiring the waveform correction parameters and acquiring a motion waveform through the waveform correction parameters and waveform preset parameters;
the switch control module (104) is used for acquiring the motion waveform and transmitting the motion waveform to the central controller (101);
and the central controller (101) acquires a control command transmitted from the first communication device (3) or the second communication device (4), controls the instrument carrier (1) to move, acquires a motion waveform fed back by the switch control module (104), and adjusts the motion track of the instrument carrier (1) according to the motion waveform.
2. A high-precision experimental instrument control system as claimed in claim 1, wherein the waveform correction module (102) comprises a waveform preset parameter module (1021), a motion data parameter module (1022) and a waveform parameter comparison module (1023), the waveform preset parameter module (1021) is used for presetting the waveform preset parameter and storing the waveform preset parameter, the motion data parameter module (1022) is used for obtaining the motion parameter when the instrument stage (1) moves through an inertia measurement module (105) arranged on the instrument stage (1), the inertia measurement module (105) is used for obtaining the motion parameter by measuring the multi-axis attitude angle and acceleration when the instrument stage (1) moves, the waveform parameter comparison module (1023) is used for obtaining the waveform preset parameter and the motion parameter, and comparing the waveform preset parameters with the movement parameters to obtain waveform correction parameters.
3. The high-precision experimental instrument control system according to claim 2, wherein the load (5) is electrically connected with the instrument carrier (1) through a load controller (6), the load (5) receives a load control signal sent by the load controller (6) and performs corresponding actions, and the load controller (6) establishes communication with the control center (4) through the first communication link or the second communication link.
4. A high accuracy laboratory instrument control system according to claim 3, characterized in that said first communication device (2) uses a private link module and/or a mobile network communication module, said private link module comprises at least one working channel, the first communication device (2) performs signal-to-noise ratio detection on each working channel, selects the working channel with the highest signal-to-noise ratio for communication, and said second communication device (3) uses a satellite communication module.
5. A high accuracy laboratory instrument control system according to claim 4, characterized in that instrument stage (1) comprises multi-axis actuators driving instrument stage (1) to move in multiple degrees of freedom, said central controller (101) controlling the motion parameters of each actuator separately.
6. A control method of a high-precision experimental instrument control system is characterized by comprising the following steps:
issuing a control instruction;
when the instrument carrier (1) is located in a first communication link range, communication is established with a control center (4) through the first communication link, the control instruction is received through a first communication device (2) and transmitted to the instrument carrier (1), and the instrument carrier (1) is controlled to move;
when the instrument carrier (1) is positioned outside the range of the first communication link, establishing communication with the control center (4) through a second communication link, receiving a control instruction through the second communication device (3), transmitting the control instruction to the instrument carrier (1), and controlling the instrument carrier (1) to move;
acquiring a waveform preset parameter and a moving parameter of an instrument carrier (1) during movement, and comparing the waveform preset parameter with the moving parameter to acquire a waveform correction parameter;
acquiring the waveform correction parameters, and acquiring a motion waveform through the waveform correction parameters and waveform preset parameters;
receiving a control instruction from the first communication device (3) or the second communication device (4), controlling the instrument carrier (1) to move according to the control instruction, acquiring the motion waveform, and adjusting the motion track of the instrument carrier (1) according to the motion waveform.
7. The control method of the control system of the high-precision experimental instrument according to claim 6, wherein waveform preset parameters and moving parameters of the instrument carrier (1) during movement are obtained, and the waveform preset parameters and the moving parameters are compared to obtain waveform correction parameters, and the method specifically comprises the following steps:
presetting the waveform preset parameters and storing the waveform preset parameters;
acquiring the movement parameters of the instrument carrier (1) during movement and storing the movement parameters;
measuring a multi-axis attitude angle and acceleration of the instrument carrier (1) during movement to obtain movement parameters;
and acquiring a waveform preset parameter and a movement parameter, and comparing the waveform preset parameter with the movement parameter to acquire a waveform correction parameter.
8. The control method of the control system of the high-precision experimental instrument according to claim 7, wherein a load (5) is loaded on the instrument carrier (1), the load (5) is electrically connected with the instrument carrier (1) through a load controller (6), the load (5) receives a load control signal sent by the load controller (6) and performs corresponding actions, and the load controller (6) establishes communication with the control center (4) through a first communication link or a second communication link.
9. The control method of the high-precision experimental instrument control system according to claim 8, wherein the first communication device (2) adopts a private link module and/or a mobile network communication module, the private link module comprises at least one working channel, the first communication device (2) performs signal-to-noise ratio detection on each working channel, selects the working channel with the highest signal-to-noise ratio for communication, and the second communication device (3) adopts a satellite communication module.
10. A control method for a high accuracy laboratory instrument control system according to claim 9, characterized in that the instrument stage (1) comprises a multi-axis actuator which drives the instrument stage (1) to move with multiple degrees of freedom.
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